Tips for getting ROFI to actually walk

[lowracer]

Howdy, anyone have any tips beyond what's in the beta calibration instructions on how to get ROFI to actually walk?   ROFI starts to walk and within three frames he's face down on the floor.   I tried both the walk actions included with the robot poser software.  I did calibrate the robot however it seems like every time I calibrate it, the robot has "forgotten" the previous calibration, requiring a full recalibration.